CN111037533A - Mobile super-redundant composite robot - Google Patents
Mobile super-redundant composite robot Download PDFInfo
- Publication number
- CN111037533A CN111037533A CN201911362149.3A CN201911362149A CN111037533A CN 111037533 A CN111037533 A CN 111037533A CN 201911362149 A CN201911362149 A CN 201911362149A CN 111037533 A CN111037533 A CN 111037533A
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- Prior art keywords
- super
- arm
- redundant
- mechanical arm
- winding drum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Abstract
The invention relates to the field of robots, in particular to a mobile super-redundancy composite robot which comprises a robot chassis, a vehicle body, an adjusting mechanical arm, a super-redundancy mechanical arm and a super-redundancy mechanical arm driving module, wherein the vehicle body is arranged on the robot chassis, the adjusting mechanical arm is arranged on the vehicle body, the super-redundancy mechanical arm is connected with the tail end of the adjusting mechanical arm, the vehicle body is provided with the super-redundancy mechanical arm driving module, and each driving cable of the super-redundancy mechanical arm penetrates through the adjusting mechanical arm and then is respectively connected with the corresponding super-redundancy mechanical arm driving module. The invention can be suitable for operation in complex working environment, and has large working range and flexible movement.
Description
Technical Field
The invention relates to the field of robots, in particular to a mobile super-redundant composite robot.
Background
With the development of the social industry level, the industrial environment becomes more and more complex, for example, the maintenance operation of the cooling pipeline of the nuclear power station reactor and the drilling operation in the narrow environment of the wing, etc., the conventional manual inspection and maintenance has great potential safety hazard and operation difficulty, so that a device with flexible movement and strong environmental adaptability is needed to be researched to adapt to various severe working environments.
A mobile robot has been gradually applied to industrial production as an automated mobile device and has played a great role, but a mobile robot in the prior art generally carries a six-axis robot to perform various operations, and it is difficult to satisfy the use requirements with respect to the complicated working environment. In addition, with the development of science and technology, a flexible super-redundant composite robot arm appears in the prior art, the flexible super-redundant composite robot arm can adapt to operations in narrow environments and the like, and if the flexible super-redundant composite robot arm can be combined with a mobile robot, the working performance and the application range of the device are undoubtedly improved.
Disclosure of Invention
The invention aims to provide a mobile super-redundant composite robot which can be suitable for operation in a complex working environment, and is large in working range and flexible in movement.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a portable super redundant compound robot, includes robot chassis, automobile body, adjustment arm, super redundant arm and super redundant arm drive module, on the robot chassis was located to the automobile body, on the automobile body was located to the adjustment arm, super redundant arm linked to each other with the adjustment arm is terminal, be equipped with super redundant arm drive module on the automobile body, just each flexible cable of super redundant arm passes link to each other with the super redundant arm drive module that corresponds respectively behind the adjustment arm.
The adjusting mechanical arm comprises an arm, two arms, three arms, a shaft driving mechanism, two shaft driving mechanisms and a three shaft driving mechanism, wherein the arm is hinged with the vehicle body through the shaft, the shaft is driven to rotate through the shaft driving mechanism, the two arms are hinged with the arm through the two shafts, the two shafts are driven to rotate through the two shaft driving mechanisms, the super-redundancy mechanical arm is connected with the three arms, the three arms are hinged with the two arms through the three shafts, and the three shafts are driven to rotate through the three shaft driving mechanisms.
A actuating mechanism, two actuating mechanism and triaxial actuating mechanism all locate in the casing of adjustment arm, just an actuating mechanism, two actuating mechanism and triaxial actuating mechanism structure are the same, all include rotation drive arrangement, worm and worm wheel, and wherein the worm is rotatory through rotating drive arrangement drive, and the worm wheel meshes with the worm and links firmly with the pivot that corresponds is coaxial.
The adjusting mechanical arm is internally provided with a hose, and the flexible cable moves in the corresponding hose.
A circuit fixing seat is arranged in the adjusting mechanical arm, and the hose is fixed through the cable fixing seat.
The super-redundancy mechanical arm driving module comprises a winding drum, a winding drum driving device and a mounting seat, wherein the mounting seat is fixedly arranged on the vehicle body, the winding drum and the winding drum driving device are arranged on the mounting seat, the winding drum is driven to rotate by the winding drum driving device, and a flexible cable is wound on the winding drum and a leading-out end of the flexible cable penetrates through a bottom plate of the mounting seat.
And a detection device or an execution element is arranged at the free end of the super-redundant mechanical arm.
The vehicle body is provided with a controller, a wireless receiving device and drivers, and the wireless receiving device and each driver are respectively connected with the controller.
The invention has the advantages and positive effects that:
1. the robot can flexibly bend and flexibly change the shape of the robot, can avoid multiple obstacles in the environment, and has strong adaptability to narrow and unstructured working environments.
2. According to the invention, the adjusting mechanical arm is arranged on the vehicle body to provide a proper initial pose for the super-redundant mechanical arm, and provide uniform and stable linear feeding for the super-redundant mechanical arm operation, so that the working space of the super-redundant mechanical arm is greatly expanded, and the application scene is widened.
3. The invention adopts the robot chassis with a moving trolley structure as a carrier for adjusting the mechanical arm and the super-redundant mechanical arm, thereby improving the flexibility and the maneuverability of the composite robot.
Drawings
Figure 1 is a schematic structural view of the present invention,
figure 2 is a schematic view of the super redundant robotic arm drive apparatus of figure 1,
fig. 3 is a schematic view of the usage state of the present invention.
The robot comprises a robot chassis 1, an adjusting mechanical arm 2, a vehicle body 3, a controller 4, a super-redundancy mechanical arm driving module 5, a reel driving device 501, a coupler 502, a mounting seat 503, a hose 504, a reel 505, a flexible cable 506, a wireless receiving device 6, a two-arm 7, a redundancy mechanical arm 8, a detection device 9, a driver 10, a first-shaft driving mechanism 11, a two-shaft driving mechanism 12, a three-shaft driving mechanism 13, a cable fixing seat 14, a three-arm 15, a worm 16, a worm gear 17 and a first arm 18.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the robot comprises a robot chassis 1, a vehicle body 3, an adjusting mechanical arm 2, a super-redundant mechanical arm 8 and a super-redundant mechanical arm driving module 5, wherein the vehicle body 3 is arranged on the robot chassis 1, the adjusting mechanical arm 2 is arranged on the vehicle body 3, the super-redundant mechanical arm 8 is connected with the tail end of the adjusting mechanical arm 2, the vehicle body 3 is provided with the super-redundant mechanical arm driving module 5, each flexible cable 506 for driving the super-redundant mechanical arm 8 passes through the adjusting mechanical arm 2 and then is respectively connected with the corresponding super-redundant mechanical arm driving module 5, and the robot chassis 1 and the super-redundant mechanical arm 8 are known in the art. As shown in fig. 3, when the robot works, the robot chassis 1 drives the vehicle body 3 to move to a position to be worked, which can be operated, then the position and the posture of the mechanical arm 2 are adjusted according to the height and the angle of actual operation, a proper working origin is provided for the super-redundant mechanical arm 8, and finally, the flexible mobility of the super-redundant mechanical arm 8 is utilized to effectively avoid obstacles in a narrow space to complete the work.
As shown in fig. 1, the adjusting robot 2 includes an arm 18, a second arm 7, a third arm 15, a first shaft driving mechanism 11, a second shaft driving mechanism 12, and a third shaft driving mechanism 13, the arm 18 is hinged to the vehicle body 3 via a first shaft, the first shaft is driven to rotate by the first shaft driving mechanism 11, the second arm 7 is hinged to the arm 18 via a second shaft, the second shaft is driven to rotate by the second shaft driving mechanism 12, the super-redundant robot 8 is connected to the third arm 15, and the third arm 15 is hinged to the second arm 7 via a third shaft, the third shaft is driven to rotate by the third shaft driving mechanism 13.
As shown in fig. 1, the first shaft driving mechanism 11, the second shaft driving mechanism 12, and the third shaft driving mechanism 13 are all disposed in a housing of the adjusting arm 2, in this embodiment, the first shaft driving mechanism 11, the second shaft driving mechanism 12, and the third shaft driving mechanism 13 have the same structure, and all include a rotation driving device, a worm 16, and a worm wheel 17, where the worm 16 is driven to rotate by the rotation driving device, and the worm wheel 17 is meshed with the worm 16 and coaxially and fixedly connected with a corresponding rotating shaft. In this embodiment, the rotation driving device is a deceleration servo motor.
As shown in fig. 1, the 504 hose in the casing of the adjusting arm 2 is fixed on the inner wall of the adjusting arm 2 through the cable fixing seat 14. The cable mount 14 is well known in the art.
As shown in fig. 1, a plurality of super-redundant mechanical arm driving modules 5 are arranged on the vehicle body 3 to correspondingly drive different flexible cables 506, hoses 504 are arranged in the adjusting mechanical arms 2, the flexible cables 506 are arranged in the corresponding hoses 504, the hoses 504 are flat spiral steel wire sleeve hoses, which play a role in protection and can change shapes along with the movement of the adjusting mechanical arms 2, and the flexible cables 506 can freely slide in the hoses 504.
As shown in fig. 2, the super-redundant manipulator driving module 5 includes a winding drum 505, a winding drum driving device 501 and a mounting seat 503, wherein the mounting seat 503 is fixedly disposed on the vehicle body 3, the winding drum 505 and the winding drum driving device 501 are both mounted on the mounting seat 503, the winding drum 505 is driven by the winding drum driving device 501 to rotate, and 506 a flexible cable is wound on the winding drum 505. In this embodiment, the reel driving device 501 is a deceleration servo motor.
As shown in fig. 2, the output shaft of the reel driving device 501 is connected to the shaft end of the reel 505 through a coupling 502, a flexible cable 506 is led out through the bottom plate of the mounting seat 503, the lower side of a through hole on the bottom plate of the mounting seat 503, through which the flexible cable 506 passes, is fixedly connected to one end of a flexible tube 504, and the other end of the flexible tube 504 is fixed in the three-arm 15. As shown in fig. 1, a detection device 9 or an execution element is disposed at a free end of the super redundant mechanical arm 8, in this embodiment, a binocular vision camera is disposed at the free end of the super redundant mechanical arm 8, and an execution element such as a clamping jaw may also be disposed as required.
As shown in fig. 1, a controller 4 and a wireless receiving device 6 are provided on the vehicle body 3, and the wireless receiving device 6 is used for receiving a control signal and transmitting the control signal to the controller 4, and then the controller 4 controls the actions of the various components. The controller 4 and the wireless receiving device 6 are both commercially available products, in this embodiment, a manufacturer of the controller 4 is xinsong robot automation limited company, and the model of the wireless receiving device 6 is spectrum a, and the brand is haixi.
As shown in fig. 1, a plurality of drivers 10 are arranged on the vehicle body 3 and respectively correspond to each super-redundant mechanical arm driving module 5, and the drivers 10 are connected with the controller 4 and drive the corresponding super-redundant mechanical arm driving modules 5 to start as required, so as to control the posture of the super-redundant mechanical arm 8. The drive 10 is well known in the art and is a commercially available product.
The working principle of the invention is as follows:
as shown in fig. 3, when the robot works, the robot chassis 1 drives the vehicle body 3 to move to a position to be worked, the position and the posture of the mechanical arm 2 are adjusted according to the height and the angle of actual operation, a proper initial pose is provided for the super-redundant mechanical arm 8, and finally the flexible movement of the super-redundant mechanical arm 8 is utilized to effectively avoid obstacles in a narrow space to complete the work.
Claims (8)
1. The utility model provides a portable super redundant compound robot which characterized in that: including robot chassis (1), automobile body (3), adjustment arm (2), super redundant arm (8) and super redundant arm drive module (5), on robot chassis (1) was located in automobile body (3), on automobile body (3) was located in adjustment arm (2), super redundant arm (8) linked to each other with adjustment arm (2) end, be equipped with super redundant arm drive module (5) on automobile body (3), just each flexible cable (506) of super redundant arm (8) pass link to each other with corresponding super redundant arm drive module (5) respectively behind adjustment arm (2).
2. The mobile super-redundant compound robot according to claim 1, wherein: the adjusting mechanical arm (2) comprises an arm (18), two arms (7), three arms (15), an axle driving mechanism (11), two axle driving mechanisms (12) and a three axle driving mechanism (13), wherein the arm (18) is hinged with the vehicle body (3) through an axle, the axle is driven to rotate through the axle driving mechanism (11), the two arms (7) are hinged with the arm (18) through two axles, the two axles are driven to rotate through the two axle driving mechanisms (12), the super-redundancy mechanical arm (8) is connected with the three arms (15), the three arms (15) are hinged with the two arms (7) through three axles, and the three axles are driven to rotate through the three axle driving mechanism (13).
3. The mobile super-redundant compound robot according to claim 2, wherein: one axle actuating mechanism (11), two actuating mechanism (12) and three-axis actuating mechanism (13) all locate in the casing of adjustment arm (2), just one axle actuating mechanism (11), two actuating mechanism (12) and three-axis actuating mechanism (13) structure are the same, all including rotating drive arrangement, worm (16) and worm wheel (17), and wherein worm (16) are rotatory through rotating drive arrangement drive, and worm wheel (17) mesh and the coaxial link firmly of pivot that corresponds with worm (16).
4. The mobile super-redundant compound robot according to claim 1, wherein: hoses (504) are arranged in the adjusting mechanical arm (2), and the flexible cables (506) move in the corresponding hoses (504).
5. The mobile super-redundant compound robot according to claim 1, wherein: a circuit fixing seat (14) is arranged in the adjusting mechanical arm (2), and the hose (504) is fixed through the cable fixing seat (14).
6. The mobile super-redundant compound robot according to claim 1, wherein: the super-redundancy mechanical arm driving module (5) comprises a winding drum (505), a winding drum driving device (501) and a mounting seat (503), wherein the mounting seat (503) is fixedly arranged on a vehicle body (3), the winding drum (505) and the winding drum driving device (501) are both arranged on the mounting seat (503), the winding drum (505) is driven to rotate by the winding drum driving device (501), and a flexible cable (506) is wound on the winding drum (505) and a leading-out end penetrates through a bottom plate of the mounting seat (503).
7. The mobile super-redundant compound robot according to claim 1, wherein: and a detection device (9) or an execution element is arranged at the free end of the super-redundant mechanical arm (8).
8. The mobile super-redundant compound robot according to claim 1, wherein: the vehicle body (3) is provided with a controller (4), a wireless receiving device (6) and drivers (10), and the wireless receiving device (6) and each driver (10) are respectively connected with the controller (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911362149.3A CN111037533A (en) | 2019-12-26 | 2019-12-26 | Mobile super-redundant composite robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911362149.3A CN111037533A (en) | 2019-12-26 | 2019-12-26 | Mobile super-redundant composite robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111037533A true CN111037533A (en) | 2020-04-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911362149.3A Withdrawn CN111037533A (en) | 2019-12-26 | 2019-12-26 | Mobile super-redundant composite robot |
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| CN (1) | CN111037533A (en) |
Citations (7)
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|---|---|---|---|---|
| CN102729240A (en) * | 2012-06-28 | 2012-10-17 | 中国民航大学 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
| CN202781147U (en) * | 2012-11-12 | 2013-03-13 | 东北林业大学 | Line-driven robot with ultra-redundant degrees of freedom |
| US20140358162A1 (en) * | 2011-05-31 | 2014-12-04 | Vanderbilt University | Robotic platform for mini-invasive surgery |
| CN105150193A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Ultra-redundancy flexible mechanical arm based on closed-loop rope driving |
| CN205036054U (en) * | 2015-10-18 | 2016-02-17 | 西安外事学院 | Ceiling coating machine for building decoration |
| CN108247622A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of modularized joint and seven freedom modularization rope drive mechanical arm |
| CN109249407A (en) * | 2018-11-01 | 2019-01-22 | 合肥工业大学 | A kind of hard and soft combination drive spray robot with non-individual body wrist joint |
-
2019
- 2019-12-26 CN CN201911362149.3A patent/CN111037533A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140358162A1 (en) * | 2011-05-31 | 2014-12-04 | Vanderbilt University | Robotic platform for mini-invasive surgery |
| CN102729240A (en) * | 2012-06-28 | 2012-10-17 | 中国民航大学 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
| CN202781147U (en) * | 2012-11-12 | 2013-03-13 | 东北林业大学 | Line-driven robot with ultra-redundant degrees of freedom |
| CN105150193A (en) * | 2015-09-28 | 2015-12-16 | 哈尔滨工业大学深圳研究生院 | Ultra-redundancy flexible mechanical arm based on closed-loop rope driving |
| CN205036054U (en) * | 2015-10-18 | 2016-02-17 | 西安外事学院 | Ceiling coating machine for building decoration |
| CN108247622A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of modularized joint and seven freedom modularization rope drive mechanical arm |
| CN109249407A (en) * | 2018-11-01 | 2019-01-22 | 合肥工业大学 | A kind of hard and soft combination drive spray robot with non-individual body wrist joint |
Non-Patent Citations (1)
| Title |
|---|
| 陈绪林: "《工业机器人操作编程及调试维护》", 30 November 2018 * |
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Application publication date: 20200421 |